Unmanned aerial vehicle having camera, and method for unmanned aerial vehicle to process image

ABSTRACT

An unmanned aerial vehicle has a main body, a plurality of propeller connection parts extending from at least one side surface of the main body by a specific length, a plurality of propellers respectively connected to ends of the plurality of propeller connection parts, and a plurality of cameras mounted on at least one surface of the main body. A first camera interposed between the plurality of propeller connection parts among the plurality of cameras is disposed spaced from a center point of the main body by a distance of a first size. A first virtual straight line connecting a center point of a first propeller disposed adjacent to the first camera among the plurality of propellers to a center point of the main body has a length of a second size.

TECHNICAL FIELD

The disclosure relates to an unmanned aerial vehicle including a camera.

BACKGROUND ART

In recent years, users that capture images using an unmanned aerialvehicle such as a drone are increasing. The unmanned aerial vehicle maybe integrated with at least one camera to support image capture or maybe provided such that at least one camera is capable of being removable.

In the meantime, at least one camera mounted on the unmanned aerialvehicle may support an omnidirectional (e.g., 360 degrees) image. Forexample, when the unmanned aerial vehicle flies at a specific height,the at least one camera mounted on the unmanned aerial vehicle capturesthe upper view and lower view images in addition to the front view, rearview, left view, and right view images; and an image processing module(e.g., a processor) included in the unmanned aerial vehicle may generatean omnidirectional image by stitching the captured images.

DISCLOSURE Technical Problem

However, in an unmanned aerial vehicle, a part of an unmanned aerialvehicle, for example, a propeller may be positioned within a capturearea of a camera mounted on the unmanned aerial vehicle. As such, a partof the unmanned aerial vehicle located in the camera's capture area maycover the background or the subject.

In addition, the omnidirectional image captured using the at least onecamera mounted on the existing unmanned aerial vehicle may causedizziness to the user who is watching the image because the shakingoccurs depending on the movement of the unmanned aerial vehicle.

Aspects of the disclosure are to address at least the above-mentionedproblems and/or disadvantages and to provide at least the advantagesdescribed below. Accordingly, an aspect of the disclosure is to providea structure of an unmanned aerial vehicle that allows a part of theunmanned aerial vehicle not to be positioned within a capture area of acamera mounted on the unmanned aerial vehicle.

Accordingly, an aspect of the disclosure is to provide an unmannedaerial vehicle including an image processing module capable ofcorrecting the captured images.

Technical Solution

In accordance with an aspect of the disclosure, an unmanned aerialvehicle may include a main body, a plurality of propeller connectionparts extending from at least one side surface of the main body by aspecified length, a plurality of propellers respectively connected toends of the plurality of propeller connection parts, and a plurality ofcameras mounted on at least one surface of the main body. A first camerainterposed between the plurality of propeller connection parts among theplurality of cameras may be disposed spaced from a center point of themain body by a distance of a first size. A first virtual straight lineconnecting a center point of a first propeller disposed adjacent to thefirst camera among the plurality of propellers to a center point of themain body may have a length of a second size. A second virtual straightline drawn vertically from the first camera to the first straight linemay have a length of a third size. The third size may be greater than aradius of the first propeller and the first size may be smaller than thesecond size.

In accordance with another aspect of the disclosure, an unmanned aerialvehicle may include a main body including at least one of an upper endframe and a lower end frame, a circuit mounting part fixed to the atleast one of the upper end frame and the lower end frame, a plurality ofpropeller connection parts extending from at least one side surface ofthe main body by a specified length, a plurality of propellersrespectively connected to ends of the plurality of propeller connectionparts, a plurality of camera connection parts extending from at leastone surface of the circuit mounting part, and a plurality of camerasrespectively connected to ends of the plurality of camera connectionparts. A first camera interposed between the plurality of propellerconnection parts among the plurality of cameras may be disposed spacedfrom a center point of the main body by a distance of a first size. Afirst virtual straight line connecting a center point of a firstpropeller disposed adjacent to the first camera among the plurality ofpropellers to a center point of the main body may have a length of asecond size. A second virtual straight line drawn vertically from thefirst camera to the first straight line may have a length of a thirdsize. The third size may be greater than a radius of the first propellerand the first size may be smaller than the second size.

In accordance with another aspect of the disclosure, an image processingmethod of an unmanned aerial vehicle may include obtaining a pluralityof images corresponding to a plurality of orientations, obtaininginformation associated with correction of the plurality of images,correcting the plurality of images based on the information associatedwith the correction, and stitching the corrected plurality of images.

Advantageous Effects

According to various embodiments of the disclosure, a part of theunmanned aerial vehicle is not positioned within the capture area of acamera mounted on the unmanned aerial vehicle, and thus anomnidirectional image in which a background or a subject is not coveredmay be provided.

According to various embodiments of the disclosure, it is possible toprovide an omnidirectional image without shaking by correcting thecaptured image.

Other aspects, advantages, and salient features of the disclosure willbecome apparent to those skilled in the art from the following detaileddescription, which, taken in conjunction with the annexed drawings,discloses various embodiments of the disclosure.

DESCRIPTION OF DRAWINGS

FIG. 1 is a plan view of an unmanned aerial vehicle having a firststructure, according to an embodiment;

FIG. 2 is a front view of an unmanned aerial vehicle having a firststructure, according to an embodiment;

FIG. 3 is a view for describing an unmanned aerial vehicle and a capturearea of a camera mounted on a side of the unmanned aerial vehicle,according to an embodiment;

FIG. 4 is a view for describing an unmanned aerial vehicle and a capturearea of a camera mounted on an upper or lower side of the unmannedaerial vehicle, according to an embodiment;

FIG. 5A is a plan view of an unmanned aerial vehicle having a secondstructure, according to an embodiment;

FIG. 5B is a front view of an unmanned aerial vehicle having a secondstructure, according to an embodiment;

FIG. 6A is a plan view of an unmanned aerial vehicle having a thirdstructure, according to an embodiment;

FIG. 6B is a front view of an unmanned aerial vehicle having a thirdstructure, according to an embodiment;

FIG. 7A is a view for describing an internal structure of an unmannedaerial vehicle having a fourth structure, according to an embodiment;

FIG. 7B is a view for describing a camera location of an unmanned aerialvehicle having a fourth structure, according to an embodiment;

FIG. 7C is a view for describing an internal structure of an unmannedaerial vehicle having a fifth structure, according to an embodiment;

FIG. 7D is a view for describing an internal structure of an unmannedaerial vehicle having a sixth structure, according to an embodiment;

FIG. 7E is a view for describing an internal structure of an unmannedaerial vehicle having a seventh structure, according to an embodiment;

FIG. 8A is a view for describing a support structure of a cameraconnection part of an unmanned aerial vehicle having a fourth structureand a fifth structure, according to an embodiment;

FIG. 88 is a view for describing another support structure of a cameraconnection part of an unmanned aerial vehicle having a fourth structureand a fifth structure, according to an embodiment;

FIG. 9 is a block diagram of an unmanned aerial vehicle, according to anembodiment;

FIG. 10 is a view for describing an omnidirectional image captured usinga plurality of cameras, according to an embodiment;

FIG. 11 is a view for describing a method of transmitting anomnidirectional image captured using a plurality of cameras to anexternal electronic device, according to an embodiment;

FIG. 12 is a view for describing a method of correcting a capturedimage, according to an embodiment;

FIG. 13 is a view for describing shaking of an image captured dependingon movement of an unmanned aerial vehicle, according to an embodiment;

FIG. 14 is a view for describing a method of correcting an imagecaptured based on a reference image, according to an embodiment;

FIG. 15A is a view for describing a method of extracting a feature froma reference image, according to an embodiment;

FIG. 15B is a view for describing another method of extracting a featurefrom a reference image, according to an embodiment;

FIG. 16 a view for describing a method of correcting an image capturedbased on movement information of an unmanned aerial vehicle, accordingto an embodiment;

FIG. 17 is a view for describing a method of adjusting ISO sensitivityof a camera depending on movement of an unmanned aerial vehicle,according to an embodiment;

FIG. 18 is a view for describing an image captured according toadjustment of ISO sensitivity of a camera, according to an embodiment;

FIG. 19 is a view for describing a method of correcting images capturedusing a plurality of cameras for each frame and then stitching thecorrected image, according to an embodiment; and

FIG. 20 is a view for describing a method of stitching images capturedusing a plurality of cameras for each frame and then correcting thestitched image, according to an embodiment.

MODE FOR INVENTION

Hereinafter, various embodiments of the disclosure may be described withreference to accompanying drawings. Accordingly, those of ordinary skillin the art will recognize that modification, equivalent, and/oralternative on the various embodiments described herein can be variouslymade without departing from the scope and spirit of the disclosure. Withregard to description of drawings, similar components may be marked bysimilar reference numerals.

In the disclosure, the expressions “have”, “may have”, “include” and“comprise”, or “may include” and “may comprise” used herein indicateexistence of corresponding features (e.g., components such as numericvalues, functions, operations, or parts) but do not exclude presence ofadditional features.

In the disclosure, the expressions “A or B”, “at least one of A or/andB”, or “one or more of A or/and B”, and the like may include any and allcombinations of one or more of the associated listed items. For example,the term “A or B”, “at least one of A and B”, or “at least one of A orB” may refer to all of the case (1) where at least one A is included,the case (2) where at least one B is included, or the case (3) whereboth of at least one A and at least one B are included.

The terms, such as “first”, “second”, and the like used in thedisclosure may be used to refer to various components regardless of theorder and/or the priority and to distinguish the relevant componentsfrom other components, but do not limit the components. For example, “afirst user device” and “a second user device” indicate different userdevices regardless of the order or priority. For example, withoutdeparting from the scope of the disclosure, a first component may bereferred to as a second component, and similarly, a second component maybe referred to as a first component.

It will be understood that when an component (e.g., a first component)is referred to as being “(operatively or communicatively) coupledwith/to” or “connected to” another component (e.g., a second component),it may be directly coupled with/to or connected to the other componentor an intervening component (e.g., a third component) may be present. Incontrast, when an component (e.g., a first component) is referred to asbeing “directly coupled with/to” or “directly connected to” anothercomponent (e.g., a second component), it should be understood that thereare no intervening component (e.g., a third component).

According to the situation, the expression “configured to” used in thedisclosure may be used as, for example, the expression “suitable for”,“having the capacity to”, “designed to”, “adapted to”, “made to”, or“capable of”. The term “configured to” must not mean only “specificallydesigned to” in hardware. Instead, the expression “a device configuredto” may mean that the device is “capable of” operating together withanother device or other parts. For example, a “processor configured to(or set to) perform A, B, and C” may mean a dedicated processor (e.g.,an embedded processor) for performing a corresponding operation or ageneric-purpose processor (e.g., a central processing unit (CPU) or anapplication processor) which performs corresponding operations byexecuting one or more software programs which are stored in a memorydevice.

Terms used in the disclosure are used to describe specified embodimentsand are not intended to limit the scope of the disclosure. The terms ofa singular form may include plural forms unless otherwise specified. Allthe terms used herein, which include technical or scientific terms, mayhave the same meaning that is generally understood by a person skilledin the art. It will be further understood that terms, which are definedin a dictionary and commonly used, should also be interpreted as iscustomary in the relevant related art and not in an idealized or overlyformal unless expressly so defined in various embodiments of thedisclosure. In some cases, even if terms are terms which are defined inthe disclosure, they may not be interpreted to exclude embodiments ofthe disclosure.

An electronic device according to various embodiments of the disclosuremay include at least one of, for example, smartphones, tablet personalcomputers (PCs), mobile phones, video telephones, electronic bookreaders, desktop PCs, laptop PCs, netbook computers, workstations,servers, personal digital assistants (PDAs), portable multimedia players(PMPs), Motion Picture Experts Group (MPEG-1 or MPEG-2) Audio Layer 3(MP3) players, mobile medical devices, cameras, or wearable devices.According to various embodiments, the wearable device may include atleast one of an accessory type (e.g., watches, rings, bracelets,anklets, necklaces, glasses, contact lens, or head-mounted-devices(HMDs), a fabric or garment-integrated type (e.g., an electronicapparel), a body-attached type (e.g., a skin pad or tattoos), or abio-implantable type (e.g., an implantable circuit).

According to various embodiments, the electronic device may be a homeappliance. The home appliances may include at least one of, for example,televisions (TVs), digital versatile disc (DVD) players, audios,refrigerators, air conditioners, cleaners, ovens, microwave ovens,washing machines, air cleaners, set-top boxes, home automation controlpanels, security control panels, TV boxes (e.g., Samsung HomeSync™,Apple TV™, or Google TV™), game consoles (e.g., Xbox™ or PlayStation™),electronic dictionaries, electronic keys, camcorders, electronic pictureframes, and the like.

According to another embodiment, an electronic device may include atleast one of various medical devices (e.g., various portable medicalmeasurement devices (e.g., a blood glucose monitoring device, aheartbeat measuring device, a blood pressure measuring device, a bodytemperature measuring device, and the like), a magnetic resonanceangiography (MRA), a magnetic resonance imaging (MRI), a computedtomography (CT), scanners, and ultrasonic devices), navigation devices,Global Navigation Satellite System (GNSS), event data recorders (EDRs),flight data recorders (FDRs), vehicle infotainment devices, electronicequipment for vessels (e.g., navigation systems and gyrocompasses),avionics, security devices, head units for vehicles, industrial or homerobots, automated teller machines (ATMs), points of sales (POSs) ofstores, or Internet of things (e.g., light bulbs, various sensors,electric or gas meters, sprinkler devices, fire alarms, thermostats,street lamps, toasters, exercise equipment, hot water tanks, heaters,boilers, and the like).

According to an embodiment, the electronic device may include at leastone of parts of furniture or buildings/structures, electronic boards,electronic signature receiving devices, projectors, or various measuringinstruments (e.g., water meters, electricity meters, gas meters, or wavemeters, and the like). According to various embodiments, the electronicdevice may be one of the above-described devices or a combinationthereof. An electronic device according to an embodiment may be aflexible electronic device. Furthermore, an electronic device accordingto an embodiment of the disclosure may not be limited to theabove-described electronic devices and may include other electronicdevices and new electronic devices according to the development oftechnologies.

Hereinafter, electronic devices according to various embodiments will bedescribed with reference to the accompanying drawings. In thedisclosure, the term “user” may refer to a person who uses an electronicdevice or may refer to a device (e.g., an artificial intelligenceelectronic device) that uses the electronic device.

FIG. 1 is a plan view of an unmanned aerial vehicle having a firststructure, according to an embodiment. FIG. 2 is a front view of anunmanned aerial vehicle having a first structure, according to anembodiment.

Referring to FIGS. 1 and 2, an unmanned aerial vehicle 100 (e.g., drone)may include a main body 110 (or housing), at least one propellerconnection part (or arm) extending from one side surface of the mainbody 110 by a specified length, at least one propeller connected to thepropeller connection part, and at least one camera mounted on onesurface of the main body 110.

The main body 110 may include a first surface (e.g., upper surface), asecond surface (e.g., lower surface), and a side surface at least partlysurrounding space between the first surface and the second surface.According to an embodiment, the first surface and the second surface maybe provided in the same or similar shape. For example, when the firstsurface is provided as a triangle, the second surface may also beprovided as a triangle. For another example, when the first surface isprovided as a square, the second surface may also be provided as asquare. However, the shape of the main body 110 is not limited thereto.According to various embodiments, the shape of the main body 110 may beprovided differently depending on the number of propellers, the numberof cameras, or the like.

According to an embodiment, at least one module for camera control andimage processing and at least one module for flight control may bedisposed inside the main body 110. For example, at least one processor,a memory, a motor, a sensor module, or the like may be disposed insidethe main body 110. In some embodiments, a communication module forcommunicating with an external electronic device may be further disposedinside the main body 110.

The processor may include one or more of a central processing unit(CPU), an application processor (AP), or a communication processor (CP).The processor may perform operations or data processing associated withcontrol and/or communication of at least another component of theunmanned aerial vehicle 100.

According to an embodiment, the processor may correct an image capturedthrough at least one camera and may store the corrected image in thememory. Moreover, the processor may control the operation of the motorto control the flight of the unmanned aerial vehicle 100.

The memory may include a volatile memory and/or a nonvolatile memory.For example, the memory may store commands or data associated with atleast one other component(s) of the unmanned aerial vehicle 100.According to an embodiment, the memory may store software and/or aprogram.

According to an embodiment, the memory may store the image capturedthrough at least one camera. Also, the memory may store motioninformation (e.g., sensing data) of the unmanned aerial vehicle 100obtained through the sensor module.

The motor may rotate the rotation axis of the motor when power isapplied. The propeller of the unmanned aerial vehicle 100 may be rotateddue to rotation of the rotation axis.

For example, the sensor module may measure a physical quantity or maysense an operation status of the unmanned aerial vehicle 100. The sensormodule may convert the measured or sensed information into an electricalsignal. The sensor module may include a gyro sensor, an accelerationsensor, a barometric pressure sensor, or the like. The sensor module mayfurther include a control circuit for controlling at least one or moresensors that belong to the sensor module.

The communication module may establish communication between theunmanned aerial vehicle 100 and an external electronic device. Forexample, the communication module may connect to a network throughwireless communications or wired communications to communicate with theexternal electronic device.

The wireless communication may include at least one of, for example, along-term evolution (LTE), an LTE Advanced (LTE-A), a code divisionmultiple access (CDMA), a wideband CDMA (WCDMA), a universal mobiletelecommunications system (UMTS), a wireless broadband (WiBro), a globalsystem for mobile communications (GSM), or the like, as a cellularcommunication protocol. In addition, the wireless communication mayinclude, for example, the short range communication. The short rangecommunication may include at least one of, for example, wirelessfidelity (Wi-Fi), Bluetooth, near field communication (NFC), globalnavigation satellite system (GNSS), or the like.

The GNSS may include at least one of a global positioning system (GPS),a global navigation satellite system (Glonass), a Beidou NavigationSatellite System (hereinafter referred to as “Beidou”), or a Europeanglobal satellite-based navigation system (Galileo), based on a use areaor a bandwidth. Hereinafter, “GPS” and “GNSS” may be usedinterchangeably in the disclosure. The wired communication may includeat least one of, for example, a universal serial bus (USB), a highdefinition multimedia interface (HDMI), a recommended standard 232(RS-232), a plain old telephone service (POTS), or the like. Forexample, the network may include at least one of telecommunicationsnetworks, for example, a computer network (e.g., local area network(LAN) or wide area network (WAN)), Internet, or a telephone network.

The propeller connection part may extend from a side surface of the mainbody 110 by a specified length and may be provided in a long rod shape.The drawing illustrates that a first propeller connection part 131extends from the center of the upper side surface of the main body 110,a second propeller connection part 133 extends from the center of theright side surface of the main body 110, and a third propellerconnection part 135 extends from the center of the left side surface ofthe main body 110. The propeller connection part may extend parallel tothe side direction (e.g., x-axis or y-axis direction) of the main body110.

The propeller may be connected to one end of the propeller connectionpart. The drawing illustrates that a third propeller 155 is connected toone end of the third propeller connection part 135 when a firstpropeller 151 is connected to one end of the first propeller connectionpart 131 and a second propeller 153 is connected to one end of thesecond propeller connection part 133. The direction of the rotation axisof the propeller may face the vertical direction (e.g., z-axisdirection) of the main body 110.

According to an embodiment, the camera may be disposed at a point wheredifferent side surfaces of the main body 110 meet, that is, a firstsurface (e.g., upper surface) of the main body 110, and a second surface(e.g., lower surface) of the main body 110. For example, the drawingillustrates a state where a first camera 171 is disposed at the edgewhere the upper side surface and the right side surface of the main body110 meet, a state where a second camera 173 is disposed at the edgewhere the upper side surface and the left side surface of the main body110 meet, a state where a third camera 175 is disposed at the edge wherethe left side surface and the right side surface of the main body 110meet, a state where a fourth camera 177 is disposed on the upper surfaceof the main body 110, and a state where a fifth camera 179 is disposedon the lower surface of the main body 110.

According to an embodiment, the capture angle (or angle of view) of thecamera disposed in the side direction of the main body 110 may beconfigured such that the propeller on both sides adjacent to the camerais not included in the capture area. For example, a horizontal directioncapture angle θ_(1a) 171 a of the first camera 171 may be configuredsuch that the first and second propellers 151 and 153 adjacent to thefirst camera 171 are not included in a capture area 171 c of the firstcamera 171. A horizontal direction capture angle θ_(2a) 173 a of thesecond camera 173 may be configured such that the first propeller 151and the third propeller 155 adjacent to the second camera 173 are notincluded in a capture area 173 c of the second camera 173. A horizontaldirection capture angle θ_(3a) 175 a of the third camera 175 may beconfigured such that the second propeller 153 and the third propeller155 adjacent to the third camera 175 are not included in a capture area175 c of the third camera 175.

According to an embodiment, the distance between the camera disposed inthe side direction of the main body 110 and the center point of the mainbody 110 may be configured such that the non-capture area (or the shadowarea) out of the capture angle is minimized. For example, the distancebetween the first camera 171 and the center point of the main body 110may be configured such that a first non-capture area 181 out of thecapture angle of the first camera 171 and the second camera 173 and asecond non-capture area 183 out of the capture angle of the first camera171 and the third camera 175 are minimized. Moreover, the distancebetween the second camera 173 and the center point of the main body 110may be configured such that the first non-capture area 181 out of thecapture angle of the second camera 173 and the first camera 171 and athird non-capture area 185 out of the capture angle of the second camera173 and the third camera 175 are minimized. Likewise, the distancebetween the third camera 175 and the center point of the main body 110may be configured such that the second non-capture area 183 out of thecapture angle of the third camera 175 and the first camera 171 and thethird non-capture area 185 out of the capture angle of the third camera175 and the second camera 173 are minimized.

According to an embodiment, the capture angle of the camera disposed inthe vertical direction of the main body 110 may be configured such thatthe capture area of the camera disposed in the vertical directionpartially overlaps with the capture area of the camera disposed in theside direction of the main body 110. For example, a capture angle θ₄ 177a of the fourth camera 177 may be configured such that a capture area177 c of the fourth camera 177 partially overlaps with both the capturearea 171 c defined by a vertical direction capture angle θ_(1b) 171 b ofthe first camera 171 and the capture area 173 c defined by a verticaldirection capture angle θ_(2b) 173 b of the second camera 173. Moreover,a capture angle θ₅ 179 a of the fifth camera 179 may be configured suchthat a capture area 179 c of the fifth camera 179 partially overlapswith both the capture area 171 c defined by the vertical directioncapture angle θ_(1b) 171 b of the first camera 171 and the capture area173 c defined by the vertical direction capture angle θ_(2b) 173 b ofthe second camera 173.

According to an embodiment, the capture angle of the camera disposed inthe vertical direction of the main body 110 may be configured such thatthe non-capture area, which is an area out of the capture angle, isminimized. For example, a capture angle 177 a of the fourth camera 177may be configured such that a fourth non-capture area 187 a out of thecapture angles of the fourth camera 177 and the first camera 171, and afifth non-capture area 187 b out of the capture angles of the fourthcamera 177 and the second camera 173 are minimized. Moreover, a captureangle 179 a of the fifth camera 179 may be configured such that a sixthnon-capture area 189 a out of the capture angles of the fifth camera 179and the first camera 171, and a seventh non-capture area 189 b out ofthe capture angles of the fifth camera 179 and the second camera 173 areminimized.

According to an embodiment, at least one landing member (e.g., landinggear) may be disposed on the lower surface of the main body 110. Thedrawing illustrates that a first landing member 191 and a second landingmember 193 are disposed on a lower surface of the main body 110.According to various embodiments, the landing member may be provided ina long rod shape extending from one point of the main body 110. In thiscase, at least two landing members may be provided. In addition, the twoor more landing members may support the main body 110 by forming aspecified angle. In some embodiments, the landing member may be providedin the shape of a plate and may be connected to a connection memberextending from a lower surface of the main body 110.

According to an embodiment, the landing member disposed on the lowersurface of the main body 110 may be positioned within the non-capturearea. For example, the first landing member 191 may be positioned withinthe sixth non-capture area 189 a, and the second landing member 193 maybe positioned within the seventh non-capture area 189 b.

FIG. 3 is a view for describing an unmanned aerial vehicle and a capturearea of a camera mounted on a side of the unmanned aerial vehicle,according to an embodiment.

Referring to FIG. 3, in the propeller of an unmanned aerial vehicle(e.g., the unmanned aerial vehicle 100), a distance from a center point301 of the unmanned aerial vehicle may be greater than the radius of thepropeller (e.g., the distance from the center point of the propeller tothe wing tip). For example, a first propeller 310 (e.g., the firstpropeller 151) may be spaced apart from the center point 301 of theunmanned aerial vehicle by a first distance d₁ 315, and a radius ‘r’ 313of the first propeller 310 may be less than a first distance 315.

The camera mounted on the side of the unmanned aerial vehicle may bespaced apart from the center point 301 of the unmanned aerial vehicle bya specified distance. For example, a first camera 350 (e.g., the firstcamera 171) may be spaced from the center point 301 of the unmannedaerial vehicle by a second distance dz.

According to an embodiment, the camera mounted on the side of theunmanned aerial vehicle may be disposed such that a part (e.g., apropeller) of the unmanned aerial vehicle does not enter the capturearea. For example, the camera mounted on the side of the unmanned aerialvehicle may be disposed such that the first propeller 310 and a secondpropeller 330 (e.g., the second propeller 153), which are adjacent tothe first camera 350, do not enter a capture area 359 defined by acapture angle θ₆ 355 of the first camera 350.

A vertical distance d₃ 357 between a line 303 connecting the centerpoint 301 of the unmanned aerial vehicle to a center point 311 of thefirst propeller 310 and the first camera 350 may be set to be greaterthan a radius 313 of the first propeller 310 and may be set to be lessthan the distance 315 from the center point 301 of the unmanned aerialvehicle to the first propeller 310, such that the first propeller 310adjacent to the first camera 350 does not enter the capture area 359 ofthe first camera 350. Likewise, the vertical distance between a line 305connecting the center point 301 of the unmanned aerial vehicle to acenter point 331 of the second propeller 330 and the first camera 350may be set to be greater than the radius of the second propeller 330 andmay be set to be less than the distance from the center point 301 of theunmanned aerial vehicle to the second propeller 330, such that thesecond propeller 330 adjacent to the first camera 350 does not enter thecapture area 359 of the first camera 350.

In the above description, the location relationship between the firstcamera 350 and each of the first propeller 310 and the second propeller330, which are adjacent to the first camera 350 are described. However,a second camera 370 (e.g., the second camera 173) and a third camera(not illustrated) (e.g., the third camera 175) may be disposedidentically or similarly.

According to an embodiment, capture areas defined by the capture anglesof adjacent cameras may partially overlap with each other. For example,the first capture area 359 defined by the capture angle of the firstcamera and a second capture area 379 defined by the capture angle of thesecond camera may partially overlap with each other. The drawingillustrates that the first capture area 359 and the second capture area379 form an overlapped area 390 at the outside of the first propeller310. According to an embodiment, an overlap angle θ₇ 391 of theoverlapped area 390 may be formed to be greater than 10 degrees.

FIG. 4 is a view for describing an unmanned aerial vehicle and a capturearea of a camera mounted on an upper or lower side of the unmannedaerial vehicle, according to an embodiment.

Referring to FIG. 4, the camera mounted on the upper or lower side ofthe unmanned aerial vehicle (e.g., the unmanned aerial vehicle 100) maybe spaced apart from a center point 401 of the unmanned aerial vehicleby a specified distance. For example, a distance d₄ 417 from a centerpoint 411 of a first camera 410 (e.g., the fourth camera 177) disposedon the upper side of the unmanned aerial vehicle to the center point 401of the unmanned aerial vehicle may be set to a specified size.

The capture area defined by the capture angle of the camera mounted onthe upper or lower side of the unmanned aerial vehicle may partiallyoverlap with the capture area defined by the capture angle of the cameramounted on the side of the unmanned aerial vehicle. For example, a firstcapture area 415 defined by a capture angle θ₈ 413 of the first camera410 may partially overlap with a second capture area 435 defined by acapture angle θ9 433 of a second camera 430 (e.g., the first camera 171,the second camera 173, or the third camera 175) disposed spaced from thecenter point 401 of the unmanned aerial vehicle by a specified distanced5 437 in the side direction. In the drawing, the first capture area 415and the second capture area 435 may partially overlap with each other soas to form an overlapped area 450. According to an embodiment, anoverlap angle θ₁₀ 451 of the overlapped area 450 may be formed to begreater than 10 degrees.

An embodiment is exemplified in FIGS. 1 and 2 as the number ofpropellers of the unmanned aerial vehicle is three. However, the numberof propellers of the unmanned aerial vehicle and the number of installedcameras is not limited thereto. According to various embodiments, thenumber of propellers of the unmanned aerial vehicle may be greater thanfour, and the number of installed cameras may be greater than five.

FIG. 5A is a plan view of an unmanned aerial vehicle having a secondstructure, according to an embodiment. FIG. 5B is a front view of anunmanned aerial vehicle having a second structure, according to anembodiment. Hereinafter, the description the same as or similar to theabove-mentioned description will be omitted.

Referring to FIGS. 5A and 5B, an unmanned aerial vehicle 500 may havefour propellers. For example, the unmanned aerial vehicle 500 mayinclude a first propeller 551 connected to a first propeller connectionportion 531 extending from the upper left side of a main body 510, asecond propeller 553 connected to a second propeller connection part 533extending from the upper right side of the main body 510, a thirdpropeller 555 connected to a third propeller connection part 535extending from the lower right side of the main body 510, and a fourthpropeller 557 connected to a fourth propeller connection part 537extending from the lower left side of the main body 510. In this case,the main body 510 of the unmanned aerial vehicle 500 may be providedsubstantially in the form of a cross. For example, a first surface(e.g., an upper surface) and a second surface (e.g., a lower surface) ofthe main body 510 may be provided substantially in the form of a cross.

A camera may be disposed at the point where the different side surfacesof the main body 510 meet and on the upper or lower surface of the mainbody 510. In the drawing, a first camera 571 is disposed at an edge(e.g., an upper-side tip portion of a cross) where the upper right sidesurface and the upper left side surface of the main body 510 meet; asecond camera 573 is disposed at an edge (e.g., the right-side tipportion of the cross) where the upper right side surface and the lowerright side surface of the main body 510 meet; a third camera 575 isdisposed at an edge (e.g., the lower-side tip portion of the cross)where the lower right side surface and the lower left side surface ofthe main body 510 meet; and a fourth camera 577 may be disposed at anedge (e.g., the left-side tip portion of the cross) where the lower leftside surface and the upper left side surface of the main body 510 meet.A fifth camera 578 may be disposed on the upper surface of the main body510, and a sixth camera 579 may be disposed on the lower surface of themain body 510.

According to an embodiment, the capture angle of the camera disposed inthe side direction of the main body 510 may be configured such that thepropeller on both sides adjacent to the camera is not included in thecapture area. Furthermore, the distance between the camera disposed inthe side direction of the main body 510 and the center point of the mainbody 510 may be configured such that the non-capture area out of thecapture angle is minimized.

According to an embodiment, the capture angle of the camera disposed inthe vertical direction of the main body 510 may be configured such thatthe capture area of the camera disposed in the vertical directionpartially overlaps with the capture area of the camera disposed in theside direction of the main body 510. Moreover, the capture angle of thecamera disposed in the vertical direction of the main body 510 may beconfigured such that the non-capture area, which is an area out of thecapture angle, is minimized.

According to an embodiment, at least one landing member may be disposedon the lower surface of the main body 510. The drawing illustrates thata first landing member 591 and a second landing member 593 are disposedon a lower surface of the main body 510. However, the number of landingmembers is not limited thereto. In some embodiments, at least anotherlanding member may be further disposed on the lower surface of the mainbody 510.

FIG. 6A is a plan view of an unmanned aerial vehicle having a thirdstructure, according to an embodiment. FIG. 6B is a front view of anunmanned aerial vehicle having a third structure, according to anembodiment.

Referring to FIGS. 6A and 6B, an unmanned aerial vehicle 600 may beprovided such that a main body 610 surrounds a propeller. For example, afirst propeller 651, a second propeller 653, a third propeller 655, anda fourth propeller 657 of the unmanned aerial vehicle 600 may bedisposed inside the main body 610. According to an embodiment, the mainbody 610 may be provided such that a center part is in the form of across. For example, the center part of the main body 610 may be providedsuch that an upper center part 611 a extending upward from the centerpoint of the main body 610, a right center part 611 b extending to theright, a lower center part 611 c extending to the lower side, and a leftcenter part 611 d extending to the left are substantially in the form ofa cross.

According to an embodiment, the main body 610 may include an upper leftside part 613 a extending from a part of the upper center part 611 a toa part of the left center part 611 d, an upper right side part 613 bextending from a part of the upper center part 611 a to a part of theright center part 611 b, a lower right side part 613 c extending from apart of the right center part 611 b to a part of the lower center part611 c, and a lower left side part 613 d extending from a part of thelower center part 611 c to a part of the left center part 611 d. Theupper left side part 613 a, the upper right side part 613 b, the lowerright side part 613 c, and the lower left side part 613 d may beprovided in a protruded shape in the side direction of the main body610. For example, the rims of the upper left side part 613 a, the upperright side part 613 b, the lower right side part 613 c, and the lowerleft side part 613 d may be provided in the form of an arc disposedspaced from the center point of the main body 610 by a specifieddistance.

According to an embodiment, the first propeller 651 may be connected toa first propeller connection part 631 extending from a point where theupper center part 611 a and the left center part 611 d of the main body610 meet each other; the second propeller 653 may be connected to asecond propeller connection part 633 extending from a point where theupper center part 611 a and the right center part 611 b of the main body610 meet each other; the third propeller 655 may be connected to a thirdpropeller connection part 635 extending from a point where the rightcenter part 611 b and the lower center part 611 c of the main body 610meet each other; and the fourth propeller 657 may be connected to afourth propeller connection part 637 extending from a point where thelower center part 611 c and the left center part 611 d of the main body610 meet each other.

According to an embodiment, a camera may be disposed at the upper centerpart 611 a, the right center part 611 b, the lower center part 611 c,the left center part 611 d, the upper surface, and the lower surface ofthe main body 610. For example, a first camera 671 may be disposed atthe end of the upper center part 611 a of the main body 610; a secondcamera 673 may be disposed at the end of the right center part 611 b ofthe main body 610; a third camera 675 is disposed at the end of thelower center part 611 c of the main body 610; and a fourth camera 677may be disposed at the end of the left center part 611 d of the mainbody 610. A fifth camera 678 may be disposed on the upper surface of themain body 610, and a sixth camera 679 may be disposed on the lowersurface of the main body 610.

FIG. 7A is a view for describing an internal structure of an unmannedaerial vehicle having a fourth structure, according to an embodiment.FIG. 7B is a view for describing a camera location of an unmanned aerialvehicle having a fourth structure, according to an embodiment.

Referring to FIGS. 7A and 7B, a main body 710 of an unmanned aerialvehicle 700 may be implemented with at least one frame. For example, asillustrated, the main body 710 may include an upper left horizontalframe 713 a and an upper right horizontal frame 715 a forming a part ofan upper surface, a lower left horizontal frame 713 b and a lower righthorizontal frame 715 b forming a part of a lower surface, an upper leftvertical frame 717 a and an upper right vertical frame 717 b forming anupper end, and a lower left vertical frame 719 a and a lower rightvertical frame 719 b forming a lower end. According to an embodiment, atleast one frame constituting the main body 710 may fix at least one of apropeller and a motor that rotates the propeller.

According to an embodiment, in the unmanned aerial vehicle 700, the atleast one camera may be disposed inside the main body 710 and may beexposed to the outside through an opening formed at least one surface ofthe main body 710. For example, the at least one camera may be locatedat the inner end of a frame constituting the main body 710. For example,a camera disposed in the side direction of the main body 710 is disposedbetween the upper left horizontal frame 713 a and the lower lefthorizontal frame 713 b or between the upper right horizontal frame 715 aand the lower right horizontal frame 715 b; a camera disposed in avertical direction of the main body 110 may be disposed between theupper left vertical frame 717 a and the upper right vertical frame 717 bor between the lower left vertical frame 719 a and the lower rightvertical frame 719 b. The drawing illustrates that a first camera 730 isdisposed between the end of the upper left horizontal frame 713 a andthe end of the lower left horizontal frame 713 b and is exposed to theoutside through a left opening 735 formed on the left side surface ofthe main body 710, a second camera 750 is disposed between the end ofthe upper right horizontal frame 715 a and the end of the lower righthorizontal frame 715 b and is exposed to the outside through a rightopening 755 formed on the right side surface of the main body 710, athird camera 770 is disposed between the end of the upper left verticalframe 717 a and the end of the upper right vertical frame 717 b and isexposed to the outside through an upper end opening 775 formed in theupper end of the main body 710, and a fourth camera 790 is disposedbetween the end of the lower left vertical frame 719 a and the lowerright vertical frame 719 b and is exposed to the outside through a lowerend opening 795 formed at the lower end of the main body 710.

According to an embodiment, the camera disposed inside the frameconstituting the main body 710 may be connected to a camera connectionpart (or arm) extending from one surface of a circuit mounting part 711located inside the frame. For example, as illustrated, the first camera730 may be connected to a left camera connection part 731 extending froma part of the left side surface of the circuit mounting part 711; thesecond camera 750 may be connected to a right camera connection part 751extending from a part of the right side surface of the circuit mountingpart 711; the third camera 770 may be connected to an upper cameraconnection part 771 extending from the upper surface of the circuitmounting part 711; and the fourth camera 790 may be connected to a lowercamera connection part 791 extending from the lower surface of thecircuit mounting part 711.

According to an embodiment, the cameras installed in the unmanned aerialvehicle 700 may be disposed such that the extension lines, which dividethe centers of the capture angles of the cameras, meet each other at acenter point 710 a of the main body 710. For example, an extension line(e.g., a line that straightly passes through a connection point 731 a ofthe first camera 730 and the center part of a capture angle 733 of thefirst camera 730) dividing the center of the capture angle θ₁₀ 733 ofthe first camera 730, an extension line (e.g., a line that straightlypasses through a connection point 751 a of the second camera 750 and thecenter part of a capture angle 753 of the second camera 750) dividingthe center of the capture angle θ₁₁ 753 of the second camera 750, anextension line (e.g., a line that straightly passes through a connectionpoint 771 a of the third camera 770 and the center part of a captureangle 773 of the third camera 770) dividing the center of the captureangle θ₁₂ 773 of the third camera 770, and an extension line (e.g., aline that straightly passes through a connection point 791 a of thefourth camera 790 and the center part of a capture angle 793 of thefourth camera 790) dividing the center of the capture angle θ₁₃ 793 ofthe fourth camera 790 may intersect each other at the center point 710 aof the main body 710.

According to another embodiment, the cameras installed in the unmannedaerial vehicle 700 may be disposed such that an extension line dividingthe center of the capture angle of each of the cameras may be parallelto a line connecting the center point 710 a of main body 710 to theconnection point of each camera. For example, the extension linedividing the center of the capture angle 733 of the first camera 730 maybe parallel to the line connecting the center point 710 a of the mainbody 710 and the connection point 731 a of the first camera 730; theextension line dividing the center of the capture angle 753 of thesecond camera 750 may be parallel to the line connecting the centerpoint 710 a of the main body 710 and the connection point 751 a of thesecond camera 750; the extension line dividing the center of the captureangle 773 of the third camera 770 may be parallel to the line connectingthe center point 710 a of the main body 710 and the connection point 771a of the third camera 770; and the extension line dividing the center ofthe capture angle 793 of the fourth camera 790 may be parallel to theline connecting the center point 710 a of the main body 710 and theconnection point 791 a of the fourth camera 790.

According to an embodiment, the above-described camera connection partmay be fixed to a frame constituting the main body 710 through a shockabsorbing member (e.g., a damper). For example, the left cameraconnection part 731 may be fixed to the upper left horizontal frame 713a and the lower left horizontal frame 713 b through a first damper 713 cand a second damper 713 d, respectively; the right camera connectionpart 751 may be fixed to the upper right horizontal frame 715 a and thelower right horizontal frame 715 b through a third damper 715 c and afourth damper 715 d, respectively; the upper camera connection part 771may be fixed to the upper left vertical frame 717 a and the upper rightvertical frame 717 b through a fifth damper 717 c and a sixth damper 717d, respectively; and the lower camera connection part 791 may be fixedto the lower left vertical frame 719 a and the lower right verticalframe 719 b through a seventh damper 719 c and a eighth damper 719 d,respectively. For another example, the circuit mounting part 711 mayalso be fixed to the frame comprising the main body 710 through a shockabsorbing member. For example, the circuit mounting part 711 may befixed to the upper left horizontal frame 713 a, the lower lefthorizontal frame 713 b, the upper right horizontal frame 715 a, and thelower right horizontal frame 715 b through a ninth damper 711 a, a tenthdamper 711 b, an eleventh damper 711 c, and a twelfth damper 711 d,respectively.

According to an embodiment, the above-described dampers maysimultaneously transmit the shaking or vibration of the main body 710 toa plurality of cameras installed in the unmanned aerial vehicle 700. Forexample, the shaking or vibration occurring at one point of the mainbody 710 may be transmitted to the first camera 730, the second camera750, the third camera 770, and the fourth camera 790 with the same orsimilar size. Accordingly, even though the main body 710 is shaken,there is no relative shaking between the plurality of cameras, therebyreducing the processing of shake correction for the images when imagesobtained from a plurality of cameras are stitched.

According to an embodiment, the shape and connection structure of eachof the dampers described above may vary depending on the weight and thecenter of gravity of the circuit mounting part 711, each cameraconnection part extending from the circuit mounting part 711, a cameraconnected to each camera connection part, and the like. For example, thedamper connected to the upper end frame among frames constituting themain body 710 may be fixed in a hanging form, and the damper connectedto the lower end frame among the frames may be fixed in a pressed form.For example, the first damper 713 c and the ninth damper 711 a may befixed to the upper left horizontal frame 713 a in a hanging form; thethird damper 715 c and the eleventh damper 711 c may be fixed to theupper right horizontal frame 715 a in a hanging form; the second damper713 d and the tenth damper 711 b may be fixed to the lower lefthorizontal frame 713 b in a pressed form; and the fourth damper 715 dand the twelfth damper 711 d may be fixed to the lower right horizontalframe 715 b in a pressed form. For another example, a damper connectedto a vertical frame among frames constituting the main body 710 may befixed in an attached form. For example, the fifth damper 717 c may befixed to the upper left vertical frame 717 a in an attached form; thesixth damper 717 d may be fixed to the upper right vertical frame 717 bin an attached form; the seventh damper 719 c may be fixed to the lowerleft vertical frame 719 a in an attached form; and the eighth damper 719d may be fixed to the lower right vertical frame 719 b in an attachedform.

According to an embodiment, the length and shape of the cameraconnection part may be assigned in consideration of the size and shapeof the frame constituting the main body 710, the diameter of apropeller, the capture angle of a camera, and the like. For example, thelength and shape of the camera connection part may be determined suchthat the frame and propeller are located in the non-capture area of acamera (an area outside the capture angle of the camera). In addition,the camera connection part may further include a structure forconnection to a camera driving circuit, a battery fixing part for fixinga battery, or the like; when the battery is disposed in the frame, thecamera connection part may further include a structure for connection tothe battery.

The circuit mounting part 711 may include at least one of a cameradriving circuit for driving the camera, an image processing circuit forprocessing the image obtained from the camera, and a flight controlcircuit for flight control. For example, the circuit mounting part 711may include a processor, a memory, a sensor module, or the like. Foranother example, the circuit mounting part 711 may further include acommunication module for communicating with an external electronicdevice.

FIG. 7C is a view for describing an internal structure of an unmannedaerial vehicle having a fifth structure, according to an embodiment.FIG. 7D is a view for describing an internal structure of an unmannedaerial vehicle having a sixth structure, according to an embodiment.FIG. 7E is a view for describing an internal structure of an unmannedaerial vehicle having a seventh structure, according to an embodiment.

Referring to FIG. 7C, the unmanned aerial vehicle 700 may have a form inwhich at least one camera protrudes outside the frame constituting themain body 710. For example, the camera disposed in the side direction ofthe main body 710 may be disposed to protrude toward the outside of theframe constituting the main body 710. As illustrated in FIG. 7C, theleft camera connection part 731 may extend from the left side surface ofthe circuit mounting part 711 by a specified length so as to protrudebetween the upper left horizontal frame 713 a and the lower lefthorizontal frame 713 b; the right camera connection part 751 may extendfrom the right side surface of the circuit mounting part 711 by aspecified length so as to protrude between the upper right horizontalframe 715 a and the lower right horizontal frame 715 b.

According to an embodiment, a frame in a horizontal direction amongframes constituting the main body 710 may be provided to surround onlythe circuit mounting part 711. For example, the upper left horizontalframe 713 a and the lower left horizontal frame 713 b may not surroundthe left camera connection part 731, and the upper right horizontalframe 715 a and the lower right horizontal frame 715 b may not surroundthe right camera connection part 751. In this case, the first damper 713c, the second damper 713 d, the third damper 715 c, and the fourthdamper 715 d, which are illustrated in FIG. 7A may be omitted, and thecircuit mounting part 711 may be fixed to the upper left horizontalframe 713 a, the lower left horizontal frame 713 b, the upper righthorizontal frame 715 a, and the lower right horizontal frame 715 bthrough the ninth damper 711 a, the tenth damper 711 b, the eleventhdamper 711 c, and the twelfth damper 711 d, respectively.

Referring to FIGS. 7D and 7E, in the unmanned aerial vehicle 700, atleast one frame constituting the main body 710 may be omitted. Forexample, as illustrated in FIG. 7D, in the main body 710, the framesdisposed at the lower end may be omitted. For example, in the main body710, the lower left horizontal frame 713 b, the lower right horizontalframe 715 b, the lower left vertical frame 719 a, and the lower rightvertical frame 719 b may be omitted. For another example, in the mainbody 710, the frames disposed at the upper end may be omitted. Forexample, in the main body 710, the upper left horizontal frame 713 a,the upper right horizontal frame 715 a, the upper left vertical frame717 a, and the upper right vertical frame 717 b may be omitted.

FIG. 8A is a view for describing a support structure of a cameraconnection part of an unmanned aerial vehicle having a fourth structureand a fifth structure, according to an embodiment. FIG. 8B is a view fordescribing another support structure of a camera connection part of anunmanned aerial vehicle having a fourth structure and a fifth structure,according to an embodiment.

Referring to FIGS. 8A and 8B, the shape and connection structure of adamper (e.g., a first damper 870 or a second damper 890) connecting acamera connection part 850 and each frame (e.g., an upper end frame 810or a lower end frame 830) may be different depending on the shape of thecamera connection part 850 and the location at which the cameraconnection part 850 is connected. For example, as illustrated in FIG.8A, when the shape of the cross-section of the camera connection part850 is a rectangle, the first damper 870 and the second damper 890 maybe interposed between the upper surface of the camera connection part850 and the upper end frame 810 and between the lower surface of thecamera connection part 850 and the lower end frame 830, respectively. Inthis case, the first damper 870 may be fixed in the form of beingsuspended from the upper end frame 810, and the second damper 890 may befixed in the form of being pressed by the lower end frame 830. Forexample, the first damper 870 may be fixed to the upper end frame 810based on an action 871 of tension or the like, and the second damper 890may be fixed to the lower end frame 830 based on an action 891 ofcompressive force, gravity, or the like.

For another example, as illustrated in FIG. 8B, when the shape of thecross section of the camera connection part 850 is circular, a thirddamper 880 having the form of a donut surrounding the outercircumference of the camera connection part 850 may connect the upperend frame 810 to the camera connection part 850 and may connect thelower end frame 830 to the camera connection part 850. However, theshape and connection structure of the damper are not limited thereto. Itwill be easily understood by those skilled in the art that any shape ofdamper and connection structure is possible when a damper is interposedbetween the camera connection part 850 and each frame to fix the cameraconnection part 850 to each frame and to mitigate the occurringvibration.

As described above, according to various embodiments, an unmanned aerialvehicle may include a main body (e.g., the main body 110), a pluralityof propeller connection parts (e.g., the first propeller connection part131, the second propeller connection part 133, or the third propellerconnection part 135) extending from at least one side surface of themain body by a specified length, a plurality of propellers (e.g., thefirst propeller 151, the second propeller 153, or the third propeller155) respectively connected to ends of the plurality of propellerconnection parts, and a plurality of cameras (e.g., the first camera171, the second camera 173, the third camera 175, the fourth camera 177,or the fifth camera 179) mounted on at least one surface of the mainbody. A first camera (e.g., the first camera 171, the second camera 173,or the third camera 175) interposed between the plurality of propellerconnection parts among the plurality of cameras may be disposed spacedfrom a center point of the main body by a distance of a first size. Afirst virtual straight line connecting a center point of a firstpropeller disposed adjacent to the first camera among the plurality ofpropellers to a center point of the main body may have a length of asecond size. A second virtual straight line drawn vertically from thefirst camera to the first straight line may have a length of a thirdsize. The third size may be greater than a radius of the first propellerand the first size may be smaller than the second size.

According to various embodiments, a second camera (e.g., the firstcamera 171, the second camera 173, or the third camera 175), which isinterposed between the plurality of propeller connection parts and whichis different from the first camera, from among the plurality of camerasmay be disposed such that a first capture area defined by a captureangle of the first camera partially overlaps with a second capture areadefined by a capture angle of the second camera.

According to various embodiments, an overlap angle of an area in whichthe first capture area overlaps with the second capture area may be notless than 10 degrees.

According to various embodiments, a second camera (e.g., the fourthcamera 177 or the fifth camera 179) disposed on an upper surface or alower surface of the main body among the plurality of cameras may bedisposed such that a first capture area defined by a capture angle ofthe first camera partially overlaps with a second capture area definedby a capture angle of the second camera.

According to various embodiments, an overlap angle of an area in whichthe first capture area overlaps with the second capture area may be notless than 10 degrees.

According to various embodiments, at least one landing member (e.g., thefirst landing member 191 or the second landing member 193) may bedisposed on a lower surface of the main body, and the landing member maybe positioned within a non-capture area out of capture angles of theplurality of cameras.

According to various embodiments, the main body may include a centerpart (e.g., the upper center part 611 a, the right center part 611 b,the lower center part 611 c, or the left center part 611 d) and aplurality of side parts (e.g., the upper left side part 613 a, the upperright side part 613 b, the lower right side part 613 c, or the lowerleft side part 613 d) extending from one part of the center part to theother part of the center part. each of rims of the side parts may beprovided in a form of an arc disposed spaced from a center point of thecenter part by a distance of a specified size, and each of the pluralityof side parts may be provided in a form to surround at least one of theplurality of propellers.

According to various embodiments, the side parts may include a firstside part and a second side part adjacent to the first side part, andthe first camera may be interposed between the first side part and thesecond side part on at least one side surface of the center part.

According to various embodiments, a second camera disposed on an uppersurface or a lower surface of the main body among the plurality ofcameras may be disposed on an upper surface or a lower surface of thecenter part.

According to various embodiments, an unmanned aerial vehicle may includea main body including at least one of an upper end frame and a lower endframe, a circuit mounting part fixed to the at least one of the upperend frame and the lower end frame, a plurality of propeller connectionparts extending from at least one side surface of the main body by aspecified length, a plurality of propellers respectively connected toends of the plurality of propeller connection parts, a plurality ofcamera connection parts extending from at least one surface of thecircuit mounting part, and a plurality of cameras respectively connectedto ends of the plurality of camera connection parts. A first camerainterposed between the plurality of propeller connection parts among theplurality of cameras may be disposed spaced from a center point of themain body by a distance of a first size. A first virtual straight lineconnecting a center point of a first propeller disposed adjacent to thefirst camera among the plurality of propellers to a center point of themain body may have a length of a second size. A second virtual straightline drawn vertically from the first camera to the first straight linemay have a length of a third size. The third size may be greater than aradius of the first propeller and the first size may be smaller than thesecond size.

According to various embodiments, at least one of the circuit mountingpart and the plurality of camera connection parts may be fixed to theupper end frame or the lower end frame through a shock absorbing member.

According to various embodiments, at least one of the plurality ofcamera connection parts may be disposed substantially in parallel withthe upper end frame or the lower end frame, and may extend to protrudetoward an outside of the upper end frame or the lower end frame.

FIG. 9 is a block diagram of an unmanned aerial vehicle, according to anembodiment.

Referring to FIG. 9, an unmanned aerial vehicle 900 may include a firstplatform 910 and a second platform 930. According to an embodiment, thefirst platform 910 may be a platform for camera control and imageprocessing, and the second platform 930 may be a platform for flightcontrol. For example, the first platform 910 may be an OS-basedplatform, and the second platform 930 may be a Non-OS-based platform.

The first platform 910 may include a first processor 911, a cameramodule 913, a memory 915, and a communication module 917. The firstprocessor 911 may include a mobile application processor (mobile AP),and may perform data processing or an operation associated with controlor communication of at least one other component(s) included in thefirst platform 910.

According to an embodiment, the first processor 911 may correct an imagecaptured through the camera module 913 and may store the corrected imagein the memory 915. Moreover, the first processor 911 may transmit acontrol signal, which is received through the communication module 917and is associated with flight, to a second processor 931.

The camera module 913 (or a camera) may capture a still image and avideo. According to an embodiment, the camera module 913 may include animaging device. According to an embodiment, for example, the imagingdevice may include at least one of a lens that receives image light of asubject and converts the light into an image, an aperture that adjuststhe amount of light passing through the lens, a shutter that closes oropens the aperture such that an image sensor is exposed to the lightpassing through the lens during a specific time, the image sensor thatreceives the image from the lens as a light signal, and an internalmemory. The internal memory may temporarily store the captured image.According to an embodiment, the internal memory may store an imagephotographed through the image sensor, before the butter is manipulated.

The memory 915 may store a command or data associated with at least oneother element of the unmanned aerial vehicle 900. According to anembodiment, the memory 915 may store an image photographed through thecamera module 913. For another example, the memory 915 may store motioninformation (e.g., sensing data) of the unmanned aerial vehicle 900obtained through a sensor module 935.

The communication module 917 may establish communication between theunmanned aerial vehicle 900 and an external device. For example, thecommunication module 917 may be connected to a network through awireless communication or a wired communication, thus communicating withthe external electronic device. The external electronic device mayinclude a device (e.g., a mobile electronic device or head-mounteddevice (HMD)) paired with the unmanned aerial vehicle 900.

The second platform 930 may include the second processor 931, a motor933, and the sensor module 935. The second processor 931 may performdata processing or an operation associated with control and/orcommunication of at least one other component included in the secondplatform 930. According to an embodiment, the second processor 931 maycontrol the operation of the motor 933 by receiving a control signalassociated with the flight from the first processor 911.

The motor 933 may rotate the propeller of the unmanned aerial vehicle900. For example, the motor 933 may rotate the rotation axis of themotor 933 when power is applied. The propeller of the unmanned aerialvehicle 900 may be rotated due to rotation of the rotation axis.

The sensor module 935 may measure a physical quantity or may detect anoperation state of the unmanned aerial vehicle 100; the sensor module935 may convert the measured or detected information to an electricalsignal. The sensor module 935 may include a gyro sensor, an accelerationsensor, a barometric pressure sensor, or the like. The sensor module 935may further include a control circuit for controlling at least one ormore sensors included therein.

According to an embodiment, the sensor module 935 may collect sensingdata according to the movement of the unmanned aerial vehicle 900. Forexample, the unmanned aerial vehicle 900 may collect sensing dataaccording to the elevation, rotation, or the like of the unmanned aerialvehicle 900.

FIG. 10 is a view for describing an omnidirectional image captured usinga plurality of cameras, according to an embodiment.

Referring to FIG. 10, an unmanned aerial vehicle (e.g., the unmannedaerial vehicle 100) may capture an omnidirectional image, using aplurality of cameras mounted on the unmanned aerial vehicle. Asillustrated in FIG. 10, the unmanned aerial vehicle may obtain a frontview image 1001 by using a first camera 1010 (e.g., the third camera575) disposed on the lower side surface of the unmanned aerial vehicle,may obtain a right view image 1002 by using a second camera 1020 (e.g.,the second camera 573) disposed on the right side surface of theunmanned aerial vehicle, may obtain a left view image 1003 by using athird camera 1030 (e.g., the fourth camera 577) disposed on the leftside surface of the unmanned aerial vehicle, may obtain a rear viewimage 1004 by using a fourth camera 1040 (e.g., the first camera 571)disposed on the upper side surface of the unmanned aerial vehicle, mayobtain an upper view image 1005 by using a fifth camera 1050 (e.g., thefifth camera 578) disposed on the upper surface of the unmanned aerialvehicle, and may obtain a lower view image 1006 by using a sixth camera1060 (e.g., the sixth camera 579) disposed on the lower surface of theunmanned aerial vehicle. However, the location of a camera and thenumber of cameras are not limited to thereto. At least one of thecameras described above may be omitted, and at least another camera maybe further disposed.

According to an embodiment, some areas of the images captured by thecameras described above may overlap with each other. For example, apartial area of the front view image 1001 obtained by the first camera1010 may overlap with at least one of the right view image 1002 obtainedby the second camera 1020 disposed adjacent to the first camera 1010,the left view image 1003 obtained by the third camera 1030, the upperview image 1005 obtained by the fifth camera 1050, and the lower viewimage 1006 obtained by the sixth camera 1060. According to anembodiment, the area in which the images overlap with each other may bean area corresponding to the capture angle of adjacent cameras having 10degrees or more.

FIG. 11 is a view for describing a method of transmitting anomnidirectional image captured using a plurality of cameras to anexternal electronic device, according to an embodiment.

Referring to FIG. 11, an unmanned aerial vehicle (e.g., the unmannedaerial vehicle 100) may capture an omnidirectional image, using aplurality of cameras mounted on the unmanned aerial vehicle. Forexample, the unmanned aerial vehicle may obtain a first image 1111, asecond image 1112, a third image 1113, a fourth image 1114, a fifthimage 1115, and a sixth image 1116 through a first camera (e.g., thefirst camera 1010), a second camera (e.g., the second camera 1020), athird camera (e.g., the third camera 1030), a fourth camera (e.g., thefourth camera 1040), a fifth camera (e.g., the fifth camera 1050), and asixth camera (e.g., the sixth camera 1060) mounted on the unmannedaerial vehicle, respectively.

According to an embodiment, the unmanned aerial vehicle may correct theobtained images 1110 based on sensing data 1130. For example, theunmanned aerial vehicle may correct the obtained images 1110 based onthe sensing data 1130 according to the movement of the unmanned aerialvehicle. In addition, the unmanned aerial vehicle may obtain anomnidirectional image 1150 by stitching the corrected images.

According to an embodiment, the unmanned aerial vehicle may transmit theomnidirectional image 1150 to an external electronic device, forexample, a head-mounted device 1170 that can be worn by a user 1171. Inthis case, the head-mounted device 1170 may provide the user 1171 withthe effect of actually controlling the unmanned aerial vehicle byoutputting the omnidirectional image 1150 as a virtual reality (VR)image or outputting an augmented reality (AR) image 1190 generated usingthe omnidirectional image 1150. In some embodiments, the unmanned aerialvehicle may transmit the omnidirectional image 1150 to a mobileelectronic device removable from the head-mounted device 1170.

FIG. 12 is a view for describing a method of correcting a capturedimage, according to an embodiment.

Referring to FIG. 12, in operation 1210, an unmanned aerial vehicle(e.g., the unmanned aerial vehicle 100) may obtain a plurality of imagescorresponding to a plurality of orientations. According to anembodiment, the unmanned aerial vehicle may obtain the plurality ofimages corresponding to the plurality of orientations, using a pluralityof cameras mounted on the unmanned aerial vehicle. For example, theunmanned aerial vehicle may obtain a front view image (e.g., the frontview image 1001) by using a first camera (e.g., the third camera 575)disposed on the lower side surface of the unmanned aerial vehicle, mayobtain a right view image (e.g., the right view image 1002) by using asecond camera (e.g., the second camera 573) disposed on the right sidesurface of the unmanned aerial vehicle, may obtain a left view image(e.g., the left view image 1003) by using a third camera (e.g., thefourth camera 577) disposed on the left side surface of the unmannedaerial vehicle, may obtain a rear view image (e.g., the rear view image1004) by using a fourth camera (e.g., the first camera 571) disposed onthe upper side surface of the unmanned aerial vehicle, may obtain aupper view image (e.g., the upper view image 1005) by using a fifthcamera (e.g., the fifth camera 578) disposed on the upper surface of theunmanned aerial vehicle, and may obtain a lower view image (e.g., thelower view image 1006) by using a sixth camera (e.g., the sixth camera579) disposed on the lower surface of the unmanned aerial vehicle.

In operation 1230, the unmanned aerial vehicle may obtain informationassociated with correction. According to an embodiment, the unmannedaerial vehicle may obtain a reference image among images obtainedthrough cameras. For example, the unmanned aerial vehicle may assign animage corresponding to the specified movement information of theunmanned aerial vehicle as the reference image. For example, thereference image may include an image captured in a state where anunmanned aerial vehicle is maintained in a horizontal state. Forexample, the reference image may include an image captured in a statewhere the unmanned aerial vehicle is in a hovering state. According toanother embodiment, the unmanned aerial vehicle may obtain movementinformation of the unmanned aerial vehicle. For example, the unmannedaerial vehicle may obtain sensing data according to the movement of theunmanned aerial vehicle. The sensing data may include sensing dataobtained through the sensor module included in the unmanned aerialvehicle.

In operation 1250, the unmanned aerial vehicle may correct the obtainedimage. According to an embodiment, the unmanned aerial vehicle maycorrect the obtained image based on the reference image. According toanother embodiment, the unmanned aerial vehicle may correct the obtainedimage based on the movement information of the unmanned aerial vehicle.

In operation 1270, the unmanned aerial vehicle may stitch the correctedimage. For example, the unmanned aerial vehicle may obtain anomnidirectional image by stitching images corresponding to eachorientation. According to an embodiment, the unmanned aerial vehicle maystitch images by using an overlapped area of each of images. Forexample, the unmanned aerial vehicle may stitch a front view image and aright view image by using an overlapped area of the front view image andthe right view image, may stitch the front view image and a left viewimage by using an overlapped area of the front view image and the leftview image, may stitch the front view image and an upper side image byusing an overlapped area of the front view image and the upper sideimage, and may stitch the front view image and a lower view image byusing an overlapped area of the front view image and the lower viewimage. Moreover, the unmanned aerial vehicle may stitch the right viewimage or the left view image and the rear view image, using anoverlapped area of the right view image or the left view image and therear view image.

According to various embodiments, the unmanned aerial vehicle mayperform operation 1270 before operation 1250 is performed. For example,the unmanned aerial vehicle may stitch the images corresponding to eachorientation firstly and then may correct the stitched omnidirectionalimage.

In some embodiments, the unmanned aerial vehicle may skip at least oneof operation 1250 and operation 1270. For example, the unmanned aerialvehicle may transmit uncorrected images or unstitched images to anexternal electronic device (e.g., a head-mounted device) as it is. Inthis case, the external electronics may correct or stitch the images andoutput the corrected or stitched images to a display.

As described above, according to various embodiments, an imageprocessing method of an unmanned aerial vehicle may include obtaining aplurality of images corresponding to a plurality of orientations,obtaining information associated with correction of the plurality ofimages, correcting the plurality of images based on the informationassociated with the correction, and stitching the corrected plurality ofimages.

According to various embodiments, the obtaining of the informationassociated with the correction may include assigning an image, which iscaptured in a state where the unmanned aerial vehicle is not inclined,from among the plurality of images to a reference image.

According to various embodiments, the correcting of the plurality ofimages may include extracting a feature of the reference image andcorrecting the plurality of images based on the feature of the referenceimage.

According to various embodiments, the extracting of the feature of thereference image may include extracting at least one of a horizontalline, a building, and a coastline included in the reference image as thefeature.

According to various embodiments, the obtaining of the informationassociated with the correction may include obtaining sensing dataaccording to movement of the unmanned aerial vehicle.

According to various embodiments, the correcting of the plurality ofimages may include correcting the plurality of images based on thesensing data.

According to various embodiments, the stitching of the correctedplurality of images may include stitching the corrected plurality ofimages by using an overlapped area of the corrected plurality of images.

According to various embodiments, the image processing method mayfurther include transmitting the stitched image to an externalelectronic device.

FIG. 13 is a view for describing shaking of an image captured dependingon movement of an unmanned aerial vehicle, according to an embodiment.

Referring to FIG. 13, the movement may occur due to a flight operationof an unmanned aerial vehicle 1300. For example, the main body of theunmanned aerial vehicle 1300 may be inclined such that the unmannedaerial vehicle 1300 flies to the front, the rear, the left, and theright. As such, the image captured through a camera mounted on theunmanned aerial vehicle 1300 may be shaken.

For example, as illustrated in a first state 1301, the central axis of afirst image 1331 captured in a state where the unmanned aerial vehicle1300 is in a hovering state (e.g., a state where the slope is 0 degree)may be in parallel with the vertical direction of the unmanned aerialvehicle 1300. However, as illustrated in a second state 1303, a secondimage 1333 captured in a state where the unmanned aerial vehicle 1300 isinclined to the right by a first slope (e.g., 15 degrees) to move to theright may be an image, the center axis of which is inclined to the rightby the first slope. As such, when the first image 1331 and the secondimage 1333 are output sequentially, the images may be seen as if theimages are shaken because the central axes of the images do not match.

As such, the unmanned aerial vehicle 1300 may correct the images, thecentral axis of each of which is inclined, to match the central axis,thereby preventing the image from being shaken. For example, asillustrated in the second state 1303 or a fifth state 1309, the angle ofthe second image 1333 or a fifth image 1339 captured in a state wherethe unmanned aerial vehicle 1300 is inclined to the right to move to theright may be corrected to the left; as illustrated in a third state1305, the angle of a third image 1335 captured in a state where theunmanned aerial vehicle 1300 is inclined to the left to move to the leftmay be corrected to the right. According to an embodiment, the unmannedaerial vehicle 1300 may assign the first image 1331 or a fourth image1337, which is captured in a hovering state while the unmanned aerialvehicle 1300 is not inclined (e.g., the first state 1301 or a fourthstate 1307), to a reference image and may correct the second image 1333,the third image 1335, and the fifth image 1339, using the referenceimage.

FIG. 14 is a view for describing a method of correcting an imagecaptured based on a reference image, according to an embodiment.

Referring to FIG. 14, an unmanned aerial vehicle (e.g., the unmannedaerial vehicle 100) may correct images 1410 (e.g., a first image 1411, asecond image 1412, a third image 1413, a fourth image 1414, a fifthimage 1415, and a sixth image 1416) captured through a plurality ofcameras. According to an embodiment, the unmanned aerial vehicle mayassign a reference image among the captured images 1410 and may correctthe captured images 1410, using the reference image.

According to an embodiment, the unmanned aerial vehicle may assign animage, which is captured in a state where the unmanned aerial vehicle isnot inclined, from among the captured images 1410, to the referenceimage. As illustrated in FIG. 14, the unmanned aerial vehicle may assignan image captured at the first time t1 1431 that is a state where theunmanned aerial vehicle is not inclined, to the reference image.According to an embodiment, an image captured at the first time 1431 maybe an image 1451 corresponding to the first frame of the captured images1410. For example, the image captured at the first time 1431 may be theimage 1451 from stitching images corresponding to the first frame of thefirst image 1411, the first frame of the second image 1412, the firstframe of the third image 1413, the first frame of the fourth image 1414,the first frame of the fifth image 1415, and the first frame of thesixth image 1416.

According to another embodiment, the unmanned aerial vehicle may assignthe reference image for each image of the captured images 1410. Forexample, the unmanned aerial vehicle may assign the reference image ofeach of the first image 1411, the second image 1412, the third image1413, the fourth image 1414, the fifth image 1415, and the sixth image1416. For example, the unmanned aerial vehicle may assign the referenceimages of the first image 1411, the second image 1412, the third image1413, the fourth image 1414, the fifth image 1415, and the sixth image1416 as images corresponding to the first frame of the first image 1411,the first frame of the second image 1412, the first frame of the thirdimage 1413, the first frame of the fourth image 1414, the first frame ofthe fifth image 1415, and the first frame of the sixth image 1416,respectively.

According to an embodiment, when the reference image 1451 is assigned,the unmanned aerial vehicle may correct images of other frame(s) otherthan a frame corresponding to the reference image 1451, using thereference image 1451. For example, the unmanned aerial vehicle mayextract a feature 1471 from the reference image 1451 and may correct thefeature extracted from images of the other frame(s) so as to correspondto the feature 1471. As illustrated in FIG. 14, the unmanned aerialvehicle may correct (e.g., move a location or change an angle) theimages captured at the second time t2 1433 such that the feature 1473extracted from an image 1453 from stitching images corresponding to theimages captured at the second time t2 1433 (e.g., the second frame ofthe first image 1411, the second frame of the second image 1412, thesecond frame of the third image 1413, the second frame of the fourthimage 1414, the second frame of the fifth image 1415, and the secondframe of the sixth image 1416) corresponds to the feature 1471 extractedfrom the reference image 1451.

In this way, the unmanned aerial vehicle may correct at least one imageother than reference image 1451. For example, the unmanned aerialvehicle may correct (e.g., move a location or change an angle) theimages captured at the n-th time ‘tn’ 1435 such that a feature 1475extracted from an image 1455 from stitching images corresponding to theimages captured at the n-th time ‘tn’ 1435 (e.g., the n-th frame of thefirst image 1411, the n-th frame of the second image 1412, the n-thframe of the third image 1413, the n-th frame of the fourth image 1414,the n-th frame of the fifth image 1415, and the n-th frame of the sixthimage 1416) corresponds to the feature 1471 extracted from the referenceimage 1451.

FIG. 15A is a view for describing a method of extracting a feature froma reference image, according to an embodiment. FIG. 15B is a view fordescribing another method of extracting a feature from a referenceimage, according to an embodiment.

Referring to FIGS. 15A and 15B, an unmanned aerial vehicle (e.g., theunmanned aerial vehicle 100) may extract a feature from the capturedimage. For example, the unmanned aerial vehicle may extract a horizontalline 1510, a building 1530, a coastline 1550, or the like from thecaptured image to assign the extracted result to the feature. Accordingto various embodiments, the unmanned aerial vehicle may extract fixedsubjects such as a mountain, a ground shape, sun, a cloud, the surfaceof sea, a bridge, and a tree to assign the extracted result to thefeature.

FIG. 16 a view for describing a method of correcting an image capturedbased on movement information of an unmanned aerial vehicle, accordingto an embodiment.

Referring to FIG. 16, an unmanned aerial vehicle (e.g., the unmannedaerial vehicle 100) may correct images 1610 (e.g., a first image 1611, asecond image 1612, a third image 1613, a fourth image 1614, a fifthimage 1615, and a sixth image 1616) captured through a plurality ofcameras. According to an embodiment, the unmanned aerial vehicle maycorrect captured images 1610 based on the movement information of theunmanned aerial vehicle. For example, the unmanned aerial vehicle maycorrect the captured images 1610 based on sensing data 1630 according tothe movement of the unmanned aerial vehicle.

According to an embodiment, the unmanned aerial vehicle may assign thesensing data 1630 obtained in a state where the unmanned aerial vehicleis not inclined, to reference data and may correct the captured images1610, using the difference value between the sensing data 1630 obtainedin a state where the unmanned aerial vehicle is inclined, and thereference data. As illustrated in FIG. 16, the unmanned aerial vehiclemay assign the sensing data 1630 obtained at the first time t1 1651being a state where the unmanned aerial vehicle is not inclined, to thereference data. In this case, an image 1671 from stitching imagescorresponding to the image captured at the first time 1651 (e.g., thefirst frame of the first image 1611, the first frame of the second image1612, the first frame of the third image 1613, the first frame of thefourth image 1614, the first frame of the fifth image 1615, and thefirst frame of the sixth image 1616) may not be corrected. In someembodiments, an image captured at the first time 1651 may be an imagewithout stitching each of the images. For example, the images capturedat the first time 1651 may be images corresponding to the first frame ofthe first image 1611, the first frame of the second image 1612, thefirst frame of the third image 1613, the first frame of the fourth image1614, the first frame of the fifth image 1615, and the first frame ofthe sixth image 1616.

According to an embodiment, when the reference data is assigned, theunmanned aerial vehicle may correct an image 1673 from stitching imagescorresponding to the images (e.g., the second frame of the first image1611, the second frame of the second image 1612, the second frame of thethird image 1613, the second frame of the fourth image 1614, the secondframe of the fifth image 1615, and the second frame of the sixth image1616, which are captured at the second time t2 1653) captured in a statewhere the unmanned aerial vehicle is inclined, based on the referencedata. In this case, the unmanned aerial vehicle may correct (e.g., movea location or change an angle) the image 1673 by using a differencevalue between sensing data 1630 according to movement of the unmannedaerial vehicle obtained at the second time 1653 and the reference data.

In this way, the unmanned aerial vehicle may also correct an image 1675from stitching images corresponding to the images captured at the n-thtime ‘tn’ 1655 (e.g., the n-th frame of the first image 1611, the n-thframe of the second image 1612, the n-th frame of the third image 1613,the n-th frame of the fourth image 1614, the n-th frame of the fifthimage 1615, and the n-th frame of the sixth image 1616). For example,the unmanned aerial vehicle may correct (e.g., move a location or changean angle) the image 1675 by using a difference value between sensingdata 1630 according to movement of the unmanned aerial vehicle obtainedat the n-th time 1655 and the reference data.

FIG. 17 is a view for describing a method of adjusting ISO sensitivityof a camera depending on movement of an unmanned aerial vehicle,according to an embodiment.

Referring to FIG. 17, an unmanned aerial vehicle 1700 may yaw left orright (or rotation based on z-axis) 1701, may roll left or right (orrotation based on y-axis) 1703, or may pitch up or down (or rotationbased on x-axis) 1705. As such, the unmanned aerial vehicle 1700 mayobtain sensing data 1730 according to each movement, based on a sensormodule included in the unmanned aerial vehicle 1700.

According to an embodiment, the unmanned aerial vehicle 1700 may adjustthe ISO sensitivity of the at least one camera mounted on the unmannedaerial vehicle 1700, depending on the movement of the unmanned aerialvehicle 1700. When the movement of the unmanned aerial vehicle 1700changes rapidly, the blur phenomenon may occur in a captured image 1710.To prevent this, the unmanned aerial vehicle 1700 may determine themovement of the unmanned aerial vehicle 1700 based on the sensing data1730 according to the movement of the unmanned aerial vehicle 1700; whenthe degree of the movement of the unmanned aerial vehicle 1700 is notless than a specified size, the unmanned aerial vehicle 1700 may adjustthe ISO sensitivity of the at least one camera mounted on the unmannedaerial vehicle 1700.

According to an embodiment, when the movement of the unmanned aerialvehicle 1700 changes rapidly, the unmanned aerial vehicle 1700 may lowerthe ISO sensitivity. For example, the unmanned aerial vehicle 1700 maysequentially change the sensitivity of the camera from a firstsensitivity 1771 to a second sensitivity 1773, a third sensitivity 1775,a fourth sensitivity 1777, and a fifth sensitivity 1779, depending onthe movement of the unmanned aerial vehicle 1700. As such, the unmannedaerial vehicle 1700 may sequentially obtain a second image 1753 capturedat the second sensitivity 1773 of the camera, a third image 1755captured at the third sensitivity 1775 of the camera, a fourth image1757 captured at the fourth sensitivity 1777 of the camera, and a fifthimage 1759 captured at the fifth sensitivity 1779 of the camera, from afirst image 1751 captured at the first sensitivity 1771 of the camera.

FIG. 18 is a view for describing an image captured according toadjustment of ISO sensitivity of a camera, according to an embodiment.

Referring to FIG. 18, an unmanned aerial vehicle (e.g., unmanned aerialvehicle 1700) may adjust the ISO sensitivity of at least one cameramounted on the unmanned aerial vehicle, based on movement information ofthe unmanned aerial vehicle. For example, when the degree of themovement of the unmanned aerial vehicle movement is greater than aspecified size, the unmanned aerial vehicle may lower the ISOsensitivity of the camera.

The left view of FIG. 18 illustrates that the blur phenomenon occurs inan image 1810 captured in a state where the unmanned aerial vehiclemoves rapidly; the right view of FIG. 18 illustrates that the blurphenomenon is removed in an image 1830 captured in a state where theunmanned aerial vehicle lowers the ISO sensitivity of the camera.

FIG. 19 is a view for describing a method of correcting images capturedusing a plurality of cameras for each frame and then stitching thecorrected image, according to an embodiment.

Referring to FIG. 19, an unmanned aerial vehicle (e.g., the unmannedaerial vehicle 100) may correct captured images 1910 (e.g., a firstimage 1911, a second image 1912, a third image 1913, a fourth image1914, a fifth image 1915, and a sixth image 1916) for each frame andthen may stitch the captured images 1910 to obtain an omnidirectionalimage.

For example, the unmanned aerial vehicle may firstly correct a firstframe 1951 of an image obtained at a first time t1 1931, for example, afirst frame 1951 a of the first image 1911, a first frame 1951 b of thesecond image 1912, a first frame 1951 c of the third image 1913, a firstframe 1951 d of the fourth image 1914, a first frame 1951 e of the fifthimage 1915, and a first frame 1951 f of the sixth image 1916. Forexample, the unmanned aerial vehicle may firstly correct the first frame1951 of the image obtained at the first time 1931 and then may obtain acorrected first frame 1971. In other words, the unmanned aerial vehiclemay correct each of the first frame 1951 a of the first image 1911, thefirst frame 1951 b of the second image 1912, the first frame 1951 c ofthe third image 1913, the first frame 1951 d of the fourth image 1914,the first frame 1951 e of the fifth image 1915, and the first frame 1951f of the sixth image 1916 and then may obtain a corrected first frame1971 a of the first image 1911, a corrected first frame 1971 b of thesecond image 1912, a corrected first frame 1971 c of the third image1913, a corrected first frame 1971 d of the fourth image 1914, acorrected first frame 1971 e of the fifth image 1915, and a correctedfirst frame 1971 f of the sixth image 1916.

After correcting each frame, the unmanned aerial vehicle may obtain anomnidirectional image 1991 for the corresponding frame by stitching thecorrected frame. For example, the unmanned aerial vehicle may obtain theomnidirectional image 1991 by stitching the corrected first frame 1971 aof the first image 1911, the corrected first frame 1971 b of the secondimage 1912, the corrected first frame 1971 c of the third image 1913,the corrected first frame 1971 d of the fourth image 1914, the correctedfirst frame 1971 e of the fifth image 1915, and the corrected firstframe 1971 f of the sixth image 1916.

In this way, the unmanned aerial vehicle may also correct imagesobtained at a second time t2 1933 and then may stitch the correctedimages. For example, the unmanned aerial vehicle may firstly correct asecond frame 1953 of the image obtained at the second time 1933 and thenmay obtain a corrected second frame 1973. In other words, the unmannedaerial vehicle may correct each of a second frame 1953 a of the firstimage 1911, a second frame 1953 b of the second image 1912, a secondframe 1953 c of the third image 1913, a second frame 1953 d of thefourth image 1914, a second frame 1953 e of the fifth image 1915, and asecond frame 1953 f of the sixth image 1916, which are obtained at thesecond time 1933, and then may obtain a corrected second frame 1973 a ofthe first image 1911, a corrected second frame 1973 b of the secondimage 1912, a corrected second frame 1973 c of the third image 1913, acorrected second frame 1973 d of the fourth image 1914, a correctedsecond frame 1973 e of the fifth image 1915, and a corrected secondframe 1973 f of the sixth image 1916. In addition, the unmanned aerialvehicle may obtain an omnidirectional image 1993 for the second frame bystitching the corrected second frame 1973.

As described above, the unmanned aerial vehicle may correct imagesobtained at the n-th time ‘tn’ 1935 and then may stitch the correctedimages. For example, the unmanned aerial vehicle may firstly correct ann-th frame 1955 of the image obtained at the n-th time 1935 and then mayobtain a corrected n-th frame 1975. In other words, the unmanned aerialvehicle may correct each of a n-th frame 1955 a of the first image 1911,a n-th frame 1955 b of the second image 1912, a n-th frame 1955 c of thethird image 1913, a n-th frame 1955 d of the fourth image 1914, a n-thframe 1955 e of the fifth image 1915, and a n-th frame 1955 f of thesixth image 1916, which are obtained at the n-th time 1935, and then mayobtain a corrected n-th frame 1975 a of the first image 1911, acorrected n-th frame 1975 b of the second image 1912, a corrected n-thframe 1975 c of the third image 1913, a corrected n-th frame 1975 d ofthe fourth image 1914, a corrected n-th frame 1975 e of the fifth image1915, and a corrected n-th frame 1975 f of the sixth image 1916. Inaddition, the unmanned aerial vehicle may obtain an omnidirectionalimage 1995 for the n-th frame by stitching the corrected n-th frame1975.

FIG. 20 is a view for describing a method of stitching images capturedusing a plurality of cameras for each frame and then correcting thestitched image, according to an embodiment.

Referring to FIG. 20, an unmanned aerial vehicle (e.g., the unmannedaerial vehicle 100) may stitch captured images 2010 (e.g., a first image2011, a second image 2012, a third image 2013, a fourth image 2014, afifth image 2015, and a sixth image 2016) for each frame to obtain anomnidirectional image corresponding to each frame and then may correctthe obtained omnidirectional image.

For example, the unmanned aerial vehicle may firstly stitch a firstframe 2051 of an image obtained at a first time t1 2031, for example, afirst frame 2051 a of the first image 2011, a first frame 2051 b of thesecond image 2012, a first frame 2051 c of the third image 2013, a firstframe 2051 d of the fourth image 2014, a first frame 2051 e of the fifthimage 2015, and a first frame 2051 f of the sixth image 2016. Forexample, the unmanned aerial vehicle may firstly obtain anomnidirectional image 2071 for the first frame 2051 of the imageobtained at the first time 2031.

After obtaining the omnidirectional image for each frame, the unmannedaerial vehicle may correct the omnidirectional image for each frame. Theunmanned aerial vehicle may correct the omnidirectional image 2071 forthe first frame 2051 to obtain a corrected omnidirectional image 2091.

In this way, the unmanned aerial vehicle may stitch images obtained at asecond time t2 2033 and then may correct the stitched image. Forexample, the unmanned aerial vehicle may firstly stitch a second frame2053 of the obtained image at the second time 2033 to obtain anomnidirectional image 2073 for the second frame 2053. In other words,the unmanned aerial vehicle may stitch a second frame 2053 a of thefirst image 2011, a second frame 2053 b of the second image 2012, asecond frame 2053 c of the third image 2013, a second frame 2053 d ofthe fourth image 2014, a second frame 2053 e of the fifth image 2015,and a second frame 2053 f of the sixth image 2016, which are obtained atthe second time 2033, to obtain the omnidirectional image 2073 for thesecond frame 2053. The unmanned aerial vehicle may correct theomnidirectional image 2073 for the second frame 2053 to obtain acorrected omnidirectional image 2093.

As described above, the unmanned aerial vehicle may stitch imagesobtained at the n-th time ‘tn’ 2035 and then may correct the stitchedimage. For example, the unmanned aerial vehicle may first stitch then-th frame 2055 of the obtained image at the n-th time 2035 to obtain anomnidirectional image 2075 for the n-th frame 2055. In other words, theunmanned aerial vehicle may stitch the n-th frame 2055 a of the firstimage 2011, the n-th frame 2055 b of the second image 2012, the n-thframe 2055 c of the third image 2013, the n-th frame 2055 d of thefourth image 2014, the n-th frame 2055 e of the fifth image 2015, andthe n-th frame 2055 f of the sixth image 2016, which are obtained at then-th time 2035 and then may obtain the omnidirectional image 2075 forthe n-th frame 2055. Furthermore, the unmanned aerial vehicle maycorrect the omnidirectional image 2075 for the n-th frame 2055 to obtaina corrected omnidirectional image 2095.

The term “module” used in the disclosure may represent, for example, aunit including one or more combinations of hardware, software andfirmware. The term “module” may be interchangeably used with the terms“unit”, “logic”, “logical block”, “part” and “circuit”. The “module” maybe a minimum unit of an integrated part or may be a part thereof. The“module” may be a minimum unit for performing one or more functions or apart thereof. The “module” may be implemented mechanically orelectronically. For example, the “module” may include at least one of anapplication-specific IC (ASIC) chip, a field-programmable gate array(FPGA), and a programmable-logic device for performing some operations,which are known or will be developed.

At least a part of an apparatus (e.g., modules or functions thereof) ora method (e.g., operations) according to various embodiments may be, forexample, implemented by instructions stored in a computer-readablestorage media in the form of a program module. The instruction, whenexecuted by a processor (e.g., the first processor 911 or the secondprocessor 931), may cause the one or more processors to perform afunction corresponding to the instruction. The computer-readable storagemedia, for example, may be the memory (e.g., the memory 915).

A computer-readable recording medium may include a hard disk, a floppydisk, a magnetic media (e.g., a magnetic tape), an optical media (e.g.,a compact disc read only memory (CD-ROM) and a digital versatile disc(DVD), a magneto-optical media (e.g., a floptical disk)), and hardwaredevices (e.g., a read only memory (ROM), a random access memory (RAM),or a flash memory). Also, the one or more instructions may contain acode made by a compiler or a code executable by an interpreter. Theabove hardware unit may be configured to operate via one or moresoftware modules for performing an operation according to variousembodiments, and vice versa.

A module or a program module according to various embodiments mayinclude at least one of the above components, or a part of the abovecomponents may be omitted, or additional other components may be furtherincluded. Operations performed by a module, a program module, or othercomponents according to various embodiments may be executedsequentially, in parallel, repeatedly, or in a heuristic method. Inaddition, some operations may be executed in different sequences or maybe omitted. Alternatively, other operations may be added.

While the disclosure has been shown and described with reference tovarious embodiments thereof, it will be understood by those skilled inthe art that various changes in form and details may be made thereinwithout departing from the spirit and scope of the disclosure as definedby the appended claims and their equivalents.

1. An unmanned aerial vehicle comprising: a main body; a plurality ofpropeller connection parts extending from at least one side surface ofthe main body by a specified length; a plurality of propellersrespectively connected to ends of the plurality of propeller connectionparts; and a plurality of cameras mounted on at least one surface of themain body, wherein a first camera interposed between the plurality ofpropeller connection parts among the plurality of cameras is disposedspaced from a center point of the main body by a first length, wherein afirst virtual straight line connecting a center point of a firstpropeller disposed adjacent to the first camera among the plurality ofpropellers to a center point of the main body corresponds to a secondlength, wherein a second virtual straight line drawn vertically from thefirst camera to the first straight line corresponds to a third length,wherein the third length is longer than a radius of the first propeller,and wherein the first length is shorter than the second length.
 2. Theunmanned aerial vehicle of claim 1, wherein a second camera, which isinterposed between the plurality of propeller connection parts and whichis different from the first camera, from among the plurality of camerasis disposed such that a first capture area defined by a capture angle ofthe first camera partially overlaps with a second capture area definedby a capture angle of the second camera.
 3. The unmanned aerial vehicleof claim 2, wherein an overlap angle of an area in which the firstcapture area overlaps with the second capture area is not less than 10degrees.
 4. The unmanned aerial vehicle of claim 1, wherein a secondcamera disposed on an upper surface or a lower surface of the main bodyamong the plurality of cameras is disposed such that a first capturearea defined by a capture angle of the first camera partially overlapswith a second capture area defined by a capture angle of the secondcamera.
 5. The unmanned aerial vehicle of claim 4, wherein an overlapangle of an area in which the first capture area overlaps with thesecond capture area is not less than 10 degrees.
 6. The unmanned aerialvehicle of claim 1, wherein at least one landing member is disposed on alower surface of the main body, and wherein the landing member ispositioned within a non-capture area out of capture angles of theplurality of cameras.
 7. The unmanned aerial vehicle of claim 1, whereinthe main body includes: a center part; and a plurality of side partsextending from one part of the center part to the other part of thecenter part, wherein each of rims of the side parts is provided in aform of an arc disposed spaced from a center point of the center part bya distance of a specified size, and wherein each of the plurality ofside parts is provided in a form to surround at least one of theplurality of propellers.
 8. The unmanned aerial vehicle of claim 7,wherein the side parts includes a first side part and a second side partadjacent to the first side part, and wherein the first camera isinterposed between the first side part and the second side part on atleast one side surface of the center part.
 9. The unmanned aerialvehicle of claim 7, wherein a second camera disposed on an upper surfaceor a lower surface of the main body among the plurality of cameras isdisposed on an upper surface or a lower surface of the center part. 10.An unmanned aerial vehicle comprising: a main body including at leastone of an upper end frame and a lower end frame; a circuit mounting partfixed to the at least one of the upper end frame and the lower endframe; a plurality of propeller connection parts extending from at leastone side surface of the main body by a specified length; a plurality ofpropellers respectively connected to ends of the plurality of propellerconnection parts; a plurality of camera connection parts extending fromat least one surface of the circuit mounting part; and a plurality ofcameras respectively connected to ends of the plurality of cameraconnection parts, wherein a first camera interposed between theplurality of propeller connection parts among the plurality of camerasis disposed spaced from a center point of the main body by a firstlength, wherein a first virtual straight line connecting a center pointof a first propeller disposed adjacent to the first camera among theplurality of propellers to a center point of the main body correspondsto the second length, wherein a second virtual straight line drawnvertically from the first camera to the first straight line correspondsto a third length, wherein the third length is longer than a radius ofthe first propeller, and wherein the first length is shorter than thesecond length.
 11. The unmanned aerial vehicle of claim 10, wherein atleast one of the circuit mounting part and the plurality of cameraconnection parts is fixed to the upper end frame or the lower end framethrough a shock absorbing member.
 12. The unmanned aerial vehicle ofclaim 10, wherein at least one of the plurality of camera connectionparts is disposed substantially in parallel with the upper end frame orthe lower end frame, and extends to protrude toward an outside of theupper end frame or the lower end frame.
 13. An image processing methodof an unmanned aerial vehicle, the method comprising: obtaining aplurality of images corresponding to a plurality of orientations;obtaining information associated with correction of the plurality ofimages; correcting the plurality of images based on the informationassociated with the correction; and stitching the corrected plurality ofimages.
 14. The method of claim 13, wherein the obtaining of theinformation associated with the correction includes: assigning an image,which is captured in a state where the unmanned aerial vehicle is notinclined, from among the plurality of images to a reference image,wherein the correcting of the plurality of images includes: extracting afeature of the reference image; and correcting the plurality of imagesbased on the feature of the reference image.
 15. The method of claim 13,wherein the obtaining of the information associated with the correctionincludes: obtaining sensing data according to movement of the unmannedaerial vehicle, and wherein the correcting of the plurality of imagesincludes: correcting the plurality of images based on the sensing data.